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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_94ddb28d1a8f6d812dff56d903a1ce15.html">global_body_planner</a></li>  </ul>
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<div class="title">planning_utils.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PLANNING_UTILS_H</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PLANNING_UTILS_H</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;unordered_map&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;unordered_set&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;random&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;grid_map_core/grid_map_core.hpp&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;global_body_planner/fast_terrain_map.h&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceplanning__utils.html">planning_utils</a> {</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// Define kinematic constraint parameters</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> H_MAX = 0.6;           <span class="comment">// Maximum height of leg base, m</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> H_MIN = 0.02;          <span class="comment">// Minimum ground clearance of body corners, m</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> V_MAX = 4.0;           <span class="comment">// Maximum robot velocity, m/s (4.0 for cheetah, 2.5 for anymal)</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> V_NOM = 1.5;           <span class="comment">// Nominal velocity, m/s (used during connect function)</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> P_MAX = 1.0;           <span class="comment">// Maximum pitch, rad</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> DP_MAX = 5.0;          <span class="comment">// Maximum angular velocity in pitch, rad/s</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> ANG_ACC_MAX = 10.0;    <span class="comment">// Maximum angular acceleration in pitch, rad/s^2</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> ROBOT_L = 0.6;         <span class="comment">// Length of robot body, m (0.6 cheetah, 0.554 ANYmal)</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> ROBOT_W = 0.256;       <span class="comment">// Width of robot body, m (0.256 cheetah, 0.232 ANYmal)</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> ROBOT_H = 0.1;         <span class="comment">// Vertical distance between leg base and bottom of robot, m (0.1 cheetah, 0.04 ANYmal)</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">// Define dynamic constraint parameters</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> M_CONST = 43;          <span class="comment">// Robot mass, kg (43 for cheetah, 30 for anymal)</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> G_CONST = 9.81;        <span class="comment">// Gravity constant, m/s^2</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> F_MAX = 800;           <span class="comment">// Maximum GRF, N (800 for cheetah, 500 for anymal)</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> MU = 1.0;              <span class="comment">// Friction coefficient (1.0 for Cheetah, 0.5 for ANYmal)</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> T_S_MIN = 0.3;         <span class="comment">// Minimum stance time, s</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> T_S_MAX = 0.3;         <span class="comment">// Maximum stance time, s</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> T_F_MIN = 0.0;         <span class="comment">// Minimum flight time, s</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> T_F_MAX = 0.5;         <span class="comment">// Maximum stance time, s</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">// Define planning parameters</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> KINEMATICS_RES = 0.05; <span class="comment">// Resolution of kinematic feasibility checks, s</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> BACKUP_TIME = 0.2;     <span class="comment">// Duration of backup after finding an invalid state, s</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> BACKUP_RATIO = 0.5;    <span class="comment">// Ratio of trajectory to back up after finding an invalid state, s</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">const</span> <span class="keywordtype">int</span> NUM_GEN_STATES = 6;       <span class="comment">// Number of actions computed for each extend function</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> GOAL_BOUNDS = 0.5;     <span class="comment">// Distance threshold on reaching the goal (only used for vanilla RRT, not RRT-Connect)</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">// Define phase variable labels</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">const</span> <span class="keywordtype">int</span> FLIGHT = 0;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">const</span> <span class="keywordtype">int</span> STANCE = 1;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">const</span> <span class="keywordtype">int</span> CONNECT_STANCE = 2;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">const</span> <span class="keywordtype">int</span> FORWARD = 0;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">const</span> <span class="keywordtype">int</span> REVERSE = 1;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">// Define the dimensionality and types for states, actions, and pairs</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">const</span> <span class="keywordtype">int</span> POSEDIM = 4;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keyword">const</span> <span class="keywordtype">int</span> STATEDIM = 8;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">const</span> <span class="keywordtype">int</span> ACTIONDIM = 10;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">typedef</span> std::array&lt;double, STATEDIM&gt; State;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">typedef</span> std::array&lt;double, ACTIONDIM&gt; Action;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">typedef</span> std::pair&lt;State, Action&gt; StateActionPair;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">// Define math parameters</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> INFTY = std::numeric_limits&lt;double&gt;::max();</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> MY_PI = 3.14159;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">// Define some useful print statements</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keywordtype">void</span> vectorToArray(State vec, <span class="keywordtype">double</span> * new_array);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keywordtype">void</span> printState(State vec);</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keywordtype">void</span> printVectorInt(std::vector&lt;int&gt; vec);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keywordtype">void</span> printStateNewline(State vec);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keywordtype">void</span> printVectorIntNewline(std::vector&lt;int&gt; vec);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keywordtype">void</span> printAction(Action a);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keywordtype">void</span> printActionNewline(Action a);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keywordtype">void</span> printStateSequence(std::vector&lt;State&gt; state_sequence);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keywordtype">void</span> printInterpStateSequence(std::vector&lt;State&gt; state_sequence, std::vector&lt;double&gt; interp_t);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keywordtype">void</span> printActionSequence(std::vector&lt;Action&gt; action_sequence);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">// Define some utility functions</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keywordtype">void</span> interpStateActionPair(State s, Action a,<span class="keywordtype">double</span> t0,<span class="keywordtype">double</span> dt, std::vector&lt;State&gt; &amp;interp_path, std::vector&lt;double&gt; &amp;interp_t, std::vector&lt;int&gt; &amp;interp_phase);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="keywordtype">void</span> getInterpPath(std::vector&lt;State&gt; state_sequence, std::vector&lt;Action&gt; action_sequence,<span class="keywordtype">double</span> dt, std::vector&lt;State&gt; &amp;interp_path, std::vector&lt;double&gt; &amp;interp_t, std::vector&lt;int&gt; &amp;interp_phase);</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;State interp(State q1, State q2, <span class="keywordtype">double</span> x);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keywordtype">double</span> poseDistance(State q1, State q2);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keywordtype">double</span> stateDistance(State q1, State q2);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keywordtype">bool</span> isWithinBounds(State s1, State s2);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;std::array&lt;double,3&gt; rotate_grf(std::array&lt;double,3&gt; surface_norm, std::array&lt;double,3&gt; grf);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">// Define planning helper functions</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;State applyStance(State s, Action a, <span class="keywordtype">double</span> t);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;State applyStance(State s, Action a);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;State applyFlight(State s, <span class="keywordtype">double</span> t_f);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;State applyAction(State s, Action a);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;State applyStanceReverse(State s, Action a, <span class="keywordtype">double</span> t);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;State applyStanceReverse(State s, Action a);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;Action getRandomAction(std::array&lt;double, 3&gt; surf_norm);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keywordtype">bool</span> isValidAction(Action a);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="keywordtype">bool</span> isValidState(State s, <a class="code" href="classFastTerrainMap.html">FastTerrainMap</a>&amp; terrain, <span class="keywordtype">int</span> phase);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keywordtype">bool</span> isValidStateActionPair(State s, Action a, <a class="code" href="classFastTerrainMap.html">FastTerrainMap</a>&amp; terrain, State &amp;s_new, <span class="keywordtype">double</span>&amp; t_new);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keywordtype">bool</span> isValidStateActionPair(State s, Action a, <a class="code" href="classFastTerrainMap.html">FastTerrainMap</a>&amp; terrain);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="keywordtype">bool</span> isValidStateActionPairReverse(State s, Action a, <a class="code" href="classFastTerrainMap.html">FastTerrainMap</a>&amp; terrain, State &amp;s_new, <span class="keywordtype">double</span>&amp; t_new);</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="keywordtype">bool</span> isValidStateActionPairReverse(State s, Action a, <a class="code" href="classFastTerrainMap.html">FastTerrainMap</a>&amp; terrain);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespaceplanning__utils_html"><div class="ttname"><a href="namespaceplanning__utils.html">planning_utils</a></div><div class="ttdef"><b>Definition:</b> planning_utils.h:18</div></div>
<div class="ttc" id="classFastTerrainMap_html"><div class="ttname"><a href="classFastTerrainMap.html">FastTerrainMap</a></div><div class="ttdoc">A terrain map class built for fast and efficient sampling. </div><div class="ttdef"><b>Definition:</b> fast_terrain_map.h:10</div></div>
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